Dynamically balanced multi-degrees-of-freedom hand controller

• US 10,520,973 B2
• Filed: 04/26/2018
• Issued: 12/31/2019
• Est. Priority Date: 10/27/2016
• Status: Active Grant

• Current Assignee: Fluidity Technologies, Inc. (Safran SA)
• Original Assignee: Fluidity Technologies, Inc. (Safran SA)
• Inventors: Parazynski, Scott Edward, Bull, Jeffrey William, Degnan, Nicholas Michael, Matson, Alina Mercedes
• Primary Examiner(s): Rogers, Adam D
• Application Number:
  US15/964,064
• Publication Number:
  US 20190041891A1
• Time in Patent Office: 614 Days
• Field of Search: 74471 XY
• CPC Class Codes: G05G 1/01 Arrangements of two or more controlling members with respect to one another double foot control, e.g. for instruction vehicles G05G1/34; mounting units comprising an assembly with two or more pedals G05G1/36
• CPC Class Codes: G05G 1/015 Arrangements for indicating the position of a controlling member means for continuously detecting pedal position G05G1/38; means for detecting position through tactile feedback G05G5/03
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/06 Details of their grip parts G05G1/10 takes precedence
• CPC Class Codes: G05G 2009/04718 with cardan or gimbal type joint
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G05G 9/04788 comprising additional control elements

Abstract

A controller including a first control member, a second control member that extends from a portion of the first control member, and a third control member that moves in conjunction with, and in opposition to, a degree of freedom of the second control member. The third control member is configured to be operated by one or more of the non-index fingers of the user'"'"'s hand. A controller processor is operable to produce a rotational movement output signal in response to movement of the first control member, and a translational movement output signal in response to movement of the second control member relative to the first control member. In exemplary embodiments, the first control member may be gripped and moved using a single hand, and the second control member may be moved using the thumb of the single hand. The third control member is configured to be operated by one or more of the non-index fingers of the user'"'"'s hand, thus permitting intuitive, single-handed control of multiple degrees of freedom, to and including, all six degrees of rotational and translational freedom without any inadvertent cross-coupling inputs.

Claims

1. A controller, comprising:

a first control member configured to be gripped by a user'"'"'s hand;

a first sensor for measuring displacement of the first control member about each of at least two of three axes of rotation and providing in response thereto a first set of independent signals, one for each of the at least two axes of rotation that is representative of the measured displacement;

a second control member mounted on the first control member in a position for displacement by a thumb or index finger on the user'"'"'s hand while gripping the first control member along at least one of three axes of translation that are fixed relative to the first control member;

a second sensor for measuring displacement of the second control member along the at least one axis independently of movement of the first control member and generating for each of the at least one axis an independent control signal representative of the measured displacement; and

wherein the first control member is coupled to a base for rotational displacement relative to the base through a releasable connector that includes connections for transmitting electrical signals.

2. The controller of claim 1, wherein the electrical signals are transmitted between the first connector and the base.

3. The controller of claim 1, wherein the base is configured for being held by a user'"'"'s hand not gripping the first control member.

4. The controller of claim 1, wherein the base is mountable to a person.

5. The controller of claim 1, wherein the base comprises a computer mouse.

6. The controller of claim 1, wherein the base further comprises a mounting for a smart phone.

7. The controller of claim 1, further comprising:

a gimbal mounted within the base for connection to the first control member, and wherein the first sensor measures angular rotation of the gimbal.

8. A controller, comprising:

a first control member configured to be gripped by a user'"'"'s hand;

a first sensor for measuring displacement of the first control member about each of at least two of three axes of rotation and providing in response thereto a first set of independent signals, one for each of the at least two axes of rotation that is representative of the measured displacement;

a second control member mounted on the first control member in a position for displacement by a thumb or index finger on the user'"'"'s hand while gripping the first control member along at least one of three axes of translation that are fixed relative to the first control member;

a second sensor for measuring displacement of the second control member along the at least one axis independently of movement of the first control member and generating for each of the at least one axis an independent control signal representative of the measured displacement;

wherein the first control member is coupled to a base for rotational displacement relative to the base through a releasable connector; and

a gimbal mounted within the base for connection to the first control member, and wherein the first sensor measures angular rotation of the gimbal.

9. The controller of claim 8, wherein the releasable connector includes connections for transmitting electrical signals.

10. The controller of claim 8, wherein the base is configured for being held by a user'"'"'s hand not gripping the first control member.

11. The controller of claim 8, wherein the base is mountable to a person.

12. The controller of claim 8, wherein the base includes a mounting for a smart phone.

13. A controller, comprising:

a first control member configured to be gripped by a user'"'"'s hand;

a first sensor for measuring displacement of the first control member about each of at least two of three axes of rotation and providing in response thereto a first set of independent signals, one for each of the at least two axes of rotation that is representative of the measured displacement;

a second control member mounted on the first control member in a position for displacement by a thumb or index finger on the user'"'"'s hand while gripping the first control member along at least one of three axes of translation that are fixed relative to the first control member;

a second sensor for measuring displacement of the second control member along the at least one axis independently of movement of the first control member and generating for each of the at least one axis an independent control signal representative of the measured displacement; and

wherein the first control member is coupled to a base for rotational displacement relative to the base through a releasable connector, the base including a computer mouse.

14. The controller of claim 13, wherein the releasable connector includes connections for transmitting electrical signals.

15. The controller of claim 13, wherein the base is configured for being held by a user'"'"'s hand not gripping the first control member.